Installation

sudo apt install ros-noetic-dwa-local-planner
sudo apt install ros-noetic-gmapping

GMapping

Terminal 1:

roslaunch atom gmapping_demo.launch

Terminal 2:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/atom/cmd_vel

Gmapping Demo

Move around the bot till you have scanned the complete room. Now in order to save the map use the following command

Terminal 3:

cd <location to save map>
rosrun map_server map_saver -f map

Scan

Terminal 1:

roslaunch atom localization.launch

Terminal 2:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/atom/cmd_vel

Now you after moving bot a little you will be able to see that it is able to localize itself properly.

Localization

Terminal 1:

roslaunch atom navigation.launch

Use RVIZ for 2D Navigation

Give Navigation Robot goes to point